/*
* @File Name prm.h
* @File Path M:\MAS2\PRM_Robotic_Arm\PRMCcode\coding\realTimePrm\prm.h
* @Author: Ruige_Lee
* @Date:   2019-08-24 10:57:13
* @Last Modified by:   Ruige_Lee
* @Last Modified time: 2019-09-01 14:50:31
* @Email: 295054118@whut.edu.cn
* @page: https://whutddk.github.io/
*/

#include <stdint.h>
#include "math/fast_math.h"
#include "obstacle/collide.h"

#define SAMPLETIMES 100
#define MAX_CHECKPOINT 10
#define ITERATION 3
#define CHECKSTEP 128

extern float samplePose[SAMPLETIMES][6];
extern float* routeIndex[2 * MAX_CHECKPOINT];

extern int32_t prm_execuse(float staPose[6], float endPose[6]);
extern int32_t prm_direct_check( float staPose[6], float endPose[6], uint32_t step );

extern int32_t prm_Astar_top( float staPose[6], float endPose[6], float* routeIndex[2 * MAX_CHECKPOINT] );
extern int32_t prm_samplePose();

